search

KUTuaNithid / phenorobot

0 stars 0 forks source link

Install and test Openvslam #2

Open KUTuaNithid opened 3 years ago

KUTuaNithid commented 3 years ago
KUTuaNithid commented 3 years ago

Example of config file. Created from calibration result Don't forget to add this Camera.color_order: "RGB" 

# elp stereo model

#==============#
# Camera Model #
#==============#

# intrinsic parameters after stereo-rectification are written

Camera.name: "elp stereo"
Camera.setup: "stereo"
Camera.model: "fisheye"

# new "rectified" matrices is the first three cols of the projection matrix which is calculated with cv::stereoRectify()
# e.g. fx = P1[0][0] or P2[0][0], cx = P1[0][2] or P2[0][2]
#      fy = P1[1][1] or P2[1][1], cy = P1[1][2] or P2[1][2]

Camera.fx: 412.472898
Camera.fy: 424.587691
Camera.cx: 691.585423
Camera.cy: 463.168991

# there is no distortion after stereo rectification

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.k3: 0.0
Camera.k4: 0.0

# focal_x_baseline is -P2[0][3] which is calculated with cv::stereoRectify()

Camera.fps: 40.0
Camera.cols: 1280
Camera.rows: 960
Camera.focal_x_baseline: 6.582496

Camera.color_order: "RGB"

#======================#
# Stereo Rectification #
#======================#

# original intrinsic parameters (K, D) and stereo-recitification parameters (R)
# matrices (K, R) are written in row-major order

StereoRectifier.model: "fisheye"
StereoRectifier.K_left: [394.76205,   2.82924, 690.63206,
           0.0, 397.95181, 471.78662,
           0.0,   0.0,   1.0]
StereoRectifier.D_left: [-0.016931, -0.031861, 0.022690, -0.007670]
StereoRectifier.R_left: [0.99999836,  0.0005982 , -0.00171096,
         -0.00058907,  0.99998562,  0.00533048,
          0.00171413, -0.00532947,  0.99998433]
StereoRectifier.K_right: [400.05949,   0.66232, 697.13124,
           0.0, 403.73843, 500.38749,
           0.0,   0.0,   1.0]
StereoRectifier.D_right: [-0.043536, -0.009952, 0.021632, -0.010701]
StereoRectifier.R_right: [0.99995327, -0.0080542 , -0.00534672,
          0.00802559,  0.99995347, -0.00535149,
          0.00538957,  0.00530833,  0.99997139]

#================#
# ORB Parameters #
#================#

Feature.max_num_keypoints: 1000
Feature.scale_factor: 1.2
Feature.num_levels: 8
Feature.ini_fast_threshold: 20
Feature.min_fast_threshold: 7

#========================#
# Initializer Parameters #
#========================#

Initializer.num_min_triangulated_pts: 100

#===========================#
# PangolinViewer Parameters #
#===========================#

PangolinViewer.keyframe_size: 0.07
PangolinViewer.keyframe_line_width: 1
PangolinViewer.graph_line_width: 1
PangolinViewer.point_size: 2
PangolinViewer.camera_size: 0.08
PangolinViewer.camera_line_width: 3
PangolinViewer.viewpoint_x: 0
PangolinViewer.viewpoint_y: -0.65
PangolinViewer.viewpoint_z: -1.9
PangolinViewer.viewpoint_f: 400
KUTuaNithid commented 3 years ago

Suscess. Using my room to test the system https://drive.google.com/drive/folders/1VnNFLdznwLb7WmnTJT1-AlW4L76K_VjG?usp=sharing